Merge pull request #225 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Aug 16, 2023 · 5c6f5da · 5c6f5da
2 parents 266251e + 857a19e
commit 5c6f5da
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Showing 7 changed files with 22 additions and 2 deletions.
diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+
+    publish_diag: true  # if true, diagnostic msg is published
+
+    # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
+    #  the next predicted_path is valid.)
+    diag_error_count_threshold: 0
+
+    display_on_terminal: true # show error msg on terminal
+
+    thresholds:
+      max_distance_deviation: 1.0
diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -7,6 +7,7 @@
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
+    road_border_departure_checker: false
 
     # Core
     footprint_margin_scale: 1.0

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -154,7 +154,8 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          road_shoulder_safety_margin: 0.3              # [m]
+          soft_road_shoulder_margin: 0.3                # [m]
+          hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
         # avoidance distance parameters

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -9,6 +9,7 @@
       debug:
         # flag to publish
         enable_pub_debug_marker: true           # publish debug marker
+        enable_pub_extra_debug_marker: false    # publish extra debug marker
 
         # flag to show
         enable_debug_info: false
@@ -77,7 +78,7 @@
 
       # avoidance
       avoidance:
-        max_bound_fixing_time: 3.0 # [s]
+        max_bound_fixing_time: 1.0 # [s]
         max_longitudinal_margin_for_bound_violation: 1.0 # [m]
         max_avoidance_cost: 0.5                          # [m]
         avoidance_cost_margin: 0.0                       # [m]

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -19,6 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -35,6 +35,7 @@
     <arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
     <arg name="vehicle_cmd_gate_param_path" value="$(find-pkg-share autoware_launch)/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
     <arg name="lane_departure_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/lane_departure_checker/lane_departure_checker.param.yaml"/>
+    <arg name="control_validator_param_path" value="$(find-pkg-share autoware_launch)/config/control/control_validator/control_validator.param.yaml"/>
     <arg name="operation_mode_transition_manager_param_path" value="$(find-pkg-share autoware_launch)/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml"/>
     <arg name="shift_decider_param_path" value="$(find-pkg-share autoware_launch)/config/control/shift_decider/shift_decider.param.yaml"/>
     <arg name="obstacle_collision_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/obstacle_collision_checker/obstacle_collision_checker.param.yaml"/>

diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -43,5 +43,6 @@
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
+    <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
   </include>
 </launch>